\hypertarget{classPVT__Ctr}{}\doxysection{PVT\+\_\+\+Ctr Class Reference}
\label{classPVT__Ctr}\index{PVT\_Ctr@{PVT\_Ctr}}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a471dd413e1e95bbe91e218e1ea611a6f}\label{classPVT__Ctr_a471dd413e1e95bbe91e218e1ea611a6f}} 
{\bfseries PVT\+\_\+\+Ctr} (double time\+Step\+In, const char $\ast$json\+Path)
\item 
\mbox{\Hypertarget{classPVT__Ctr_a59c9680162b5ef4bd67553b4eadcd5de}\label{classPVT__Ctr_a59c9680162b5ef4bd67553b4eadcd5de}} 
void {\bfseries cal\+Motors\+PVT} ()
\item 
\mbox{\Hypertarget{classPVT__Ctr_abf75859d36e4319b658748e35c40c2c0}\label{classPVT__Ctr_abf75859d36e4319b658748e35c40c2c0}} 
void {\bfseries cal\+Motors\+PVT} (double delta\+P\+\_\+\+Lim)
\item 
\mbox{\Hypertarget{classPVT__Ctr_a29f1c739eec92db4f83ba0a1fdb53367}\label{classPVT__Ctr_a29f1c739eec92db4f83ba0a1fdb53367}} 
void {\bfseries enable\+PV} ()
\item 
\mbox{\Hypertarget{classPVT__Ctr_ae17e60bb77cff1eee387ba7681f552d0}\label{classPVT__Ctr_ae17e60bb77cff1eee387ba7681f552d0}} 
void {\bfseries disable\+PV} ()
\item 
\mbox{\Hypertarget{classPVT__Ctr_ae18b2ffdd1d2198450698dc89af3425d}\label{classPVT__Ctr_ae18b2ffdd1d2198450698dc89af3425d}} 
void {\bfseries enable\+PV} (int jt\+Id)
\item 
\mbox{\Hypertarget{classPVT__Ctr_a31ece05e6fe09c2ac4df3265e84a6d75}\label{classPVT__Ctr_a31ece05e6fe09c2ac4df3265e84a6d75}} 
void {\bfseries disable\+PV} (int jt\+Id)
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\mbox{\Hypertarget{classPVT__Ctr_a9043bcd372772fda34a4a3d8b6ff96ee}\label{classPVT__Ctr_a9043bcd372772fda34a4a3d8b6ff96ee}} 
void {\bfseries set\+Joint\+PD} (double kp, double kd, const char $\ast$joint\+Name)
\item 
\mbox{\Hypertarget{classPVT__Ctr_a596b859183cef9466234053260d05185}\label{classPVT__Ctr_a596b859183cef9466234053260d05185}} 
void {\bfseries data\+Bus\+Read} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&bus\+In)
\item 
\mbox{\Hypertarget{classPVT__Ctr_a50946a0747c3b2c5a44693e0efa07b83}\label{classPVT__Ctr_a50946a0747c3b2c5a44693e0efa07b83}} 
void {\bfseries data\+Bus\+Write} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&bus\+In)
\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a65bea7c1cf6efd9779fafb9530542b5a}\label{classPVT__Ctr_a65bea7c1cf6efd9779fafb9530542b5a}} 
int {\bfseries joint\+Num}
\item 
\mbox{\Hypertarget{classPVT__Ctr_aa7ffa78b4deff2ded61d871605d04820}\label{classPVT__Ctr_aa7ffa78b4deff2ded61d871605d04820}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+pos\+\_\+cur}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a92dc261978c8606d77f190ea395023a5}\label{classPVT__Ctr_a92dc261978c8606d77f190ea395023a5}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+pos\+\_\+des\+\_\+old}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a9d77dccb170f7a4b1ecf173b91047ba4}\label{classPVT__Ctr_a9d77dccb170f7a4b1ecf173b91047ba4}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+vel}
\item 
\mbox{\Hypertarget{classPVT__Ctr_af96ebbc7d163601d831ca6fbdec2f8a1}\label{classPVT__Ctr_af96ebbc7d163601d831ca6fbdec2f8a1}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+tor\+\_\+out}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a86bed2b218438e82e07858019af6eb12}\label{classPVT__Ctr_a86bed2b218438e82e07858019af6eb12}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+pos\+\_\+des}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a5624aa8616b716c07dbd15ccb97f81df}\label{classPVT__Ctr_a5624aa8616b716c07dbd15ccb97f81df}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+vel\+\_\+des}
\item 
\mbox{\Hypertarget{classPVT__Ctr_acbd741b868f4b6c28b8968bee46ca65c}\label{classPVT__Ctr_acbd741b868f4b6c28b8968bee46ca65c}} 
std\+::vector$<$ double $>$ {\bfseries motor\+\_\+tor\+\_\+des}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a087f2c0d307a08d0ca7a535e8d72e2df}\label{classPVT__Ctr_a087f2c0d307a08d0ca7a535e8d72e2df}} 
std\+::vector$<$ double $>$ {\bfseries pvt\+\_\+\+Kp}
\item 
\mbox{\Hypertarget{classPVT__Ctr_a94d3bed472c408dcf2f5f63d63f04ba3}\label{classPVT__Ctr_a94d3bed472c408dcf2f5f63d63f04ba3}} 
std\+::vector$<$ double $>$ {\bfseries pvt\+\_\+\+Kd}
\item 
\mbox{\Hypertarget{classPVT__Ctr_aa4041b56d20aeec8f7f4a07694530272}\label{classPVT__Ctr_aa4041b56d20aeec8f7f4a07694530272}} 
std\+::vector$<$ double $>$ {\bfseries max\+Tor}
\item 
\mbox{\Hypertarget{classPVT__Ctr_afb0b7dccfc83f7595d2f382b11b32b18}\label{classPVT__Ctr_afb0b7dccfc83f7595d2f382b11b32b18}} 
std\+::vector$<$ double $>$ {\bfseries max\+Vel}
\item 
\mbox{\Hypertarget{classPVT__Ctr_acab0c63a484d70566ce74898da9a1fb8}\label{classPVT__Ctr_acab0c63a484d70566ce74898da9a1fb8}} 
std\+::vector$<$ double $>$ {\bfseries max\+Pos}
\item 
\mbox{\Hypertarget{classPVT__Ctr_ada55b04b5f69ea0e0a69d9fdb45fe853}\label{classPVT__Ctr_ada55b04b5f69ea0e0a69d9fdb45fe853}} 
std\+::vector$<$ double $>$ {\bfseries min\+Pos}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}


Definition at line 18 of file PVT\+\_\+ctrl.\+h.



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
PVT\+\_\+ctrl.\+h\item 
PVT\+\_\+ctrl.\+cpp\end{DoxyCompactItemize}
